U.S. patent number 8,798,232 [Application Number 13/934,033] was granted by the patent office on 2014-08-05 for mobile aircraft inspection system.
This patent grant is currently assigned to Rapiscan Systems, Inc.. The grantee listed for this patent is Rapiscan Systems, Inc.. Invention is credited to Joseph Bendahan.
United States Patent |
8,798,232 |
Bendahan |
August 5, 2014 |
Mobile aircraft inspection system
Abstract
A system for scanning aircraft for concealed threats is
provided. The system comprises a vehicle and a manipulator arm
attached with a scanning head that can be maneuvered in multiple
directions to completely scan an aircraft from the outside. The
system uses transmission based X-ray detection, backscatter based
X-ray detection or a combination thereof, in various embodiments.
The system also includes gamma-ray and neutron detectors, for
detection of nuclear and radioactive materials.
Inventors: |
Bendahan; Joseph (San Jose,
CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Rapiscan Systems, Inc. |
Torrance |
CA |
US |
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Assignee: |
Rapiscan Systems, Inc.
(Torrance, CA)
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Family
ID: |
43925440 |
Appl.
No.: |
13/934,033 |
Filed: |
July 2, 2013 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20140098937 A1 |
Apr 10, 2014 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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12916371 |
Oct 29, 2010 |
8483356 |
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61256104 |
Oct 29, 2009 |
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Current U.S.
Class: |
378/57; 378/55;
378/76 |
Current CPC
Class: |
G01V
5/0025 (20130101); H05G 1/02 (20130101); G01N
23/04 (20130101); G01V 5/0066 (20130101); G01N
23/203 (20130101); G01V 5/0008 (20130101); G01N
23/05 (20130101); G01N 2223/3303 (20130101); G03B
42/028 (20130101); G01V 5/0016 (20130101); G01N
2223/631 (20130101); G01N 2223/1016 (20130101); G01N
23/083 (20130101); G01N 2223/1006 (20130101); G01N
2223/1013 (20130101); G01N 2223/106 (20130101) |
Current International
Class: |
G01B
15/04 (20060101); G01N 23/203 (20060101) |
Field of
Search: |
;378/51,54-57,62,76,189,193,197,198 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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2255634 |
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Nov 1992 |
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GB |
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WO9855851 |
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Dec 1998 |
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WO |
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WO2009150416 |
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Dec 2009 |
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WO |
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WO/2011/059838 |
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Oct 2010 |
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WO |
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Other References
PCT/US10/054859 Search Report, Mar. 21, 2011, Rapiscan Systems Inc.
cited by applicant .
International Search Report for PCT/GB2009/001444 completed on Mar.
1, 2010, Rapiscan Systems, Inc. cited by applicant .
Molchanov P A et al: "Nanosecond gated optical sensors for ocean
optic applications" Sensors Applications Symposium, 2006.
Proceedings of the 2006 IEEE Houston, Texas, USA Feb. 7-9, 2006,
Piscataway, NJ, USA, IEEE, Feb. 7, 2006, pp. 147-150; XP010917671
ISBN: 978-0-7803-9580-0. cited by applicant .
"Mobile X-Ray Inspection Systems" Internet citation Feb. 12, 2007,
pp. 1-2, XP007911046 Retrieved from the Internet:
URL:http://web.archive.org/web/20070212000928/http://www.bombdetection.co-
m/cat.sub.--details.php?catid=20> [retrieved on Jan. 6, 2010].
cited by applicant.
|
Primary Examiner: Midkiff; Anastasia
Attorney, Agent or Firm: Novel IP
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
The present invention relies on U.S. Provisional Patent Application
No. 61/256,104, entitled "Mobile Aircraft Inspection System" and
filed on Oct. 29, 2009, for priority and is herein incorporated by
reference in its entirety.
Claims
I claim:
1. A system for scanning an aircraft from the outside for the
detection of concealed threats, comprising: a scanning head
comprising an X-ray source for generating an X-ray beam toward the
aircraft and two backscatter detectors for receiving X-rays that
are backscattered from the aircraft, wherein each of the two
backscatter detectors are defined by a triangular space having a
photomultiplier tube as one side and scintillator material as a
second side and wherein each of the two backscatter detectors are
positioned adjacent to a gap through which the X-ray beam is
emitted; a manipulator arm for maneuvering the scanning head
relative to the aircraft, wherein said manipulator arm has a first
end and a second end, wherein the first end is movably connected to
a vehicle for transporting the system and wherein the second end is
movably connected to the scanning head; a movable detector unit
comprising a set of detectors, said detector unit being aligned
with said scanning head such that the set of detectors receive the
X-rays transmitted through the aircraft; a computer system for
controlling the motion of the system, wherein said computer system
further comprises a memory.
2. The system of claim 1, wherein said scanning head further
comprises at least one proximity sensor.
3. The system of claim 1, wherein the positions of the X-ray source
and the first set of detectors are synchronized remotely.
4. The system of claim 1, wherein said X-ray source and said set of
detectors are positioned along opposite sides of the aircraft.
5. The system of claim 1, wherein said detector unit is L-shaped to
capture X-rays transmitted through the aircraft.
6. The system of claim 1, wherein said manipulator arm has a
plurality of degrees of freedom for positioning the scanning head,
wherein said plurality of degrees of freedom includes at least one
of up, down, left, right, in, out, and rotation.
7. The system of claim 1, wherein the computer system for
controlling the motion of the system further includes a database of
at least one plane contour stored in the memory for controlling
said motion based on said plane contour.
8. The system of claim 1, wherein images are displayed on a monitor
for local or remote viewing by an operator.
9. The system of claim 1, wherein images are compared with images
collected from planes of the same model to determine anomalies.
10. The system of claim 1, wherein the detected threats include
organic materials, inorganic materials and nuclear materials.
11. The system of claim 1 further comprising gamma-ray detectors
and neutron detectors for detection of nuclear and radioactive
materials in passive mode.
12. The system in claim 1 further comprising gamma-ray detectors
and neutron detectors for detection of nuclear materials following
radiation induced by photofission.
Description
FIELD OF THE INVENTION
The present invention generally relates to the field of radiant
energy imaging systems for detecting concealed objects, and more
specifically to an X-ray inspection system for inspecting aircraft
for threat items and other contraband.
BACKGROUND OF THE INVENTION
In current times, with increasing threats of violence, the
inspection of vehicles in addition to luggage and cargo at transit
points has become almost universally mandatory. In addition to
passenger and cargo vehicles, contraband such as explosives,
weapons, narcotics, dangerous chemicals, and nuclear and
radioactive materials can also be concealed in various parts of
general aircraft for illegal transportation. Detection of such
contraband and presence of other threat items in an aircraft
requires detailed inspection of the aircraft in its entirety.
Amongst detection systems that provide for efficient non-invasive
inspection, X-ray imaging systems are the most commonly used.
Transmission based X-ray imaging systems are traditionally used to
inspect trucks and cargo containers for contraband. Inspection of a
complete aircraft however, can be challenging with a
transmission-based geometry wherein typically, the source is
located on one side of the aircraft and detectors are located on
the other side of the aircraft. This geometry has many challenges,
and in particular, when scanning around the landing gear and
engines as there is difficulty placing detectors and thus, in
producing radiographic images.
In backscatter based inspection systems, X-rays are used for
irradiating a vehicle or object being inspected, and rays that are
scattered back by the object are collected by one or more detector
arrays. The resultant data is appropriately processed to provide
images which help identify the presence of contraband. In
transmission systems, the radiation source is placed on one side of
the object while the detectors are placed on the other side. The
radiation source and detectors are maintained in fixed alignment
relative to each other.
Since aircraft are typically made of lighter materials, a
backscatter-based detection system would provide adequate
penetration in most cases and thus would only require equipment to
be placed on one side of the aircraft. However, backscatter
technology may not be suitable when all areas of the aircraft have
to be penetrated with a high detection probability, such as is the
case with nuclear materials detection. Areas of high attenuation as
measured by the backscattered radiation include fuel tanks,
transformers, counterweights, among other aircraft components. In
addition, backscatter technology cannot effectively discriminate
between typical metals and special nuclear materials.
Aircraft inspection calls for unique requirements such as the
capability of inspecting large aircraft from more than one side. In
addition, varying aircraft sizes would require the inspection head
to scan at different heights, and several sections of the aircraft,
such as the wings and tails, would require different head and
detector scanning configurations. Conventional X-ray backscatter
and transmission systems, however, do not have adequate scanning
robustness, ability to work in various orientations, scanning
range, or field of view for aircraft inspection applications.
Therefore, what is needed is a rapid and accurate inspection system
for determining the presence of concealed illegal materials, both
nuclear and non-nuclear, in general aviation aircraft.
What is also needed is a system that is easily transportable,
mobile, and non-intrusive, that is capable of operating even in
rugged outdoor conditions such as airport environments.
SUMMARY OF THE INVENTION
In one embodiment, the present invention is a mobile, non-intrusive
inspection system capable of inspecting aircraft in its entirety
for nuclear and other contraband materials. In one embodiment, the
inspection system of the present invention is capable of detecting
weapons, drugs, or other contraband hidden even in those areas of
the aircraft, which are difficult to scan, such as the voids of the
wings, fuselage, engine nacelles, empennage, and stabilizer
areas.
The inspection system of the present invention is not only rapid
and non-intrusive, but also safe for all personnel in the immediate
area of the aircraft, including the system operator, ground
personnel and personnel on the aircraft. The system of the present
invention is, in one embodiment, designed to be mobile, such that
it can be delivered to any airfield and operate independently from
other equipment and machines on the airfield.
In one embodiment, the present invention is a system for scanning
an aircraft from the outside for the detection of concealed
threats, comprising: a scanning head comprising an X-ray source for
generating an X-ray beam toward the aircraft; a manipulator arm for
maneuvering the scanning head relative to the aircraft, wherein
said manipulator arm has a first end and a second end, wherein the
first end is movably connected to a vehicle for transporting the
system and wherein the second end is movably connected to the
scanning head; a movable detector unit comprising a first set of
detectors, said detector unit being aligned with said scanning head
such that the first set of detectors receive the X-rays transmitted
through the aircraft; a computer system for controlling the motion
of the system, wherein said computer system further comprises a
memory.
In one embodiment, the scanning head further comprises at least one
proximity sensor.
In another embodiment, the scanning head further comprises a second
set of detectors for receiving X-rays that are backscattered from
the aircraft.
In one embodiment, the positions of the X-ray source and the first
set of detectors are synchronized remotely. In one embodiment, the
X-ray source and the first set of detectors are positioned along
opposite sides of the aircraft.
In one embodiment, the detector unit is L-shaped to capture X-rays
transmitted through the aircraft.
In one embodiment, the manipulator arm has a plurality of degrees
of freedom for positioning the scanning head, wherein said
plurality of degrees of freedom includes at least one of up, down,
left, right, in, out, and rotation.
In one embodiment, the computer system for controlling the motion
of the system further includes a database of at least one plane
contour stored in the memory for controlling said motion based on
said plane contour.
In one embodiment, images are displayed on a monitor for local or
remote viewing by an operator. In one embodiment, images are
compared with images collected from planes of the same model to
determine anomalies.
In one embodiment, the detected threats include organic materials,
inorganic materials and nuclear materials. In one embodiment, the
system further includes gamma-ray detectors and neutron detectors
for detection of nuclear and radioactive materials in passive mode
and for detection of nuclear materials following radiation induced
by photofission.
In one embodiment, present invention is a system for externally
scanning an aircraft, having a body and an underside, to detect
concealed threats, the system comprising: a mobile gantry defined
by two vertical beams connected by a horizontal beam, wherein the
horizontal beam comprises a top side of said gantry, and wherein
said gantry is capable of being moved along the length of the
aircraft being scanned; an X-ray source connected to the top side
of said gantry, said source capable of being moved horizontally
along the top side; and a movable detector unit comprising a first
set of detectors, said detector unit being aligned with said X-ray
source and being positioned along the underside of the aircraft,
such that the first set of detectors receive X-rays transmitted
through the aircraft from said X-ray source.
In one embodiment, the positions of the X-ray source and the first
set of detectors are synchronized remotely.
In one embodiment, the scanning motion comprises moving the mobile
gantry along the length of the aircraft and moving the X-ray source
along the width of the aircraft.
In one embodiment, the system comprises a second set of detectors
disposed on the top side of said gantry for receiving the X-rays
scattered back from the aircraft.
In one embodiment, the X-ray source is capable of being tilted in
at least four directions. In one embodiment, detected threats
include organic materials, inorganic materials and nuclear
materials.
In one embodiment, the present invention is a system for externally
scanning an aircraft, having a body and an underside, to detect
concealed threats, the system comprising: a mobile gantry defined
by two vertical beams connected by a horizontal beam, wherein the
horizontal beam comprises a top side of said gantry, and wherein
said gantry is adapted to move over at least one section of the
aircraft being scanned; a transverse beam, having a first end and a
second end, coupled to the top side of said gantry, adapted to be
moved horizontally along the said top side, wherein an X-ray source
is connected to the first end of said transverse beam and a
counterweight is connected to the second end of said transverse
beam to balance said X-ray source; and a movable detector unit
comprising a first set of detectors, said detector unit being
aligned to the X-ray source, such that the first set of detectors
receive X-rays transmitted through the aircraft from said X-ray
source.
In one embodiment, the system of the present invention further
comprises a second set of detectors disposed along with the X-ray
source for receiving the X-rays scattered back from the
aircraft.
In one embodiment, the X-ray source is capable of being tilted in
four directions.
In one embodiment, the positions of said X-ray source and said
first set of detectors are synchronized remotely.
In one embodiment, the detected threats include organic materials,
inorganic materials and nuclear materials.
BRIEF DESCRIPTION OF THE DRAWINGS
These and other features and advantages of the present invention
will be appreciated, as they become better understood by reference
to the following detailed description when considered in connection
with the accompanying drawings, wherein:
FIG. 1 illustrates a functional design of the backscatter-based
aircraft inspection system of present invention;
FIG. 2 illustrates a functional design of the transmission-based
aircraft inspection system of present invention;
FIG. 3A illustrates an exemplary vehicle that can be used with the
mobile aircraft inspection system of the present invention;
FIG. 3B illustrates an exemplary manipulator arm used for mounting
the inspection head or radiation source of the system of present
invention;
FIG. 4 is a cross-sectional view of a backscatter head of the
present invention comprising a backscatter module;
FIG. 5A is a top plan view of a single-scan transmission-based
aircraft inspection system where the source is mounted on a movable
crane in accordance with another embodiment of the present
invention;
FIG. 5B is a front elevation view of the transmission-based
aircraft inspection system, shown in FIG. 5A, where the source is
mounted on a movable crane in accordance with another embodiment of
the present invention;
FIG. 5C is a side elevation view of the transmission-based aircraft
inspection system, shown in FIGS. 5A and 5B, where the source is
mounted on a movable crane in accordance with another embodiment of
the present invention;
FIG. 6A is a top plan view of a multiple scan transmission-based
aircraft inspection system where the source is mounted on a movable
crane in accordance with yet another embodiment of the present
invention;
FIG. 6B is a front elevation view of the transmission-based
aircraft inspection system, also shown in FIG. 6A, where the source
is mounted on a movable crane in accordance with the yet another
embodiment of the present invention;
FIG. 6C is a side elevation view of the transmission-based aircraft
inspection system, shown in FIGS. 6A and 6B, where the source is
mounted on a movable crane in accordance with the yet another
embodiment of the present invention;
FIG. 7A is an elevation view from the nose-end or front face of the
aircraft showing a first method of scanning exclusion zones such
as, but not limited to, areas above the wheels;
FIG. 7B is an elevation view from the side of the aircraft showing
the first method of scanning exclusion zones such as, but not
limited to, areas above the wheels, in a different view than FIG.
7A;
FIG. 8A is a top plan view showing a second method of scanning
hidden zones such as, but not limited to, areas above the
wheels;
FIG. 8B is an elevation view from the nose-end or front face of the
aircraft showing the second method of scanning hidden zones such
as, but not limited to, areas above the wheels, in a different view
than FIG. 8A;
FIG. 8C is an elevation view from the side of the aircraft showing
the second method of scanning hidden zones such as, but not limited
to, areas above the wheels, in a different view than shown in FIGS.
8A and 8B; and
FIG. 9 is an illustration of one embodiment of a nuclear inspection
configuration, including exemplary distances between an aircraft
under inspection and a source/detector array.
DETAILED DESCRIPTION OF THE INVENTION
The present invention is directed towards a mobile, non-intrusive
inspection system capable of inspecting aircraft in its entirety,
and in particular a complete general aviation aircraft, for nuclear
and other contraband materials. In one embodiment, the system of
the present invention is capable of detecting weapons, drugs, or
other contraband hidden even in those areas of the aircraft, which
are difficult to scan, such as the voids of the wings, fuselage,
engine nacelles, empennage, and stabilizer areas. The inspection
system of the present invention is not only rapid and
non-intrusive, but also safe for all personnel in the immediate
area of the aircraft, including the system operator, ground
personnel and personnel on the aircraft. The system of the present
invention is, in one embodiment, designed to be mobile, such that
it can be delivered to any airfield and operate independently from
other equipment and machines on the airfield.
The present invention is directed towards multiple embodiments. The
following disclosure is provided in order to enable a person having
ordinary skill in the art to practice the invention. Language used
in this specification should not be interpreted as a general
disavowal of any one specific embodiment or used to limit the
claims beyond the meaning of the terms used therein. The general
principles defined herein may be applied to other embodiments and
applications without departing from the spirit and scope of the
invention. Also, the terminology and phraseology used is for the
purpose of describing exemplary embodiments and should not be
considered limiting. Thus, the present invention is to be accorded
the widest scope encompassing numerous alternatives, modifications
and equivalents consistent with the principles and features
disclosed. For purpose of clarity, details relating to technical
material that is known in the technical fields related to the
invention have not been described in detail so as not to
unnecessarily obscure the present invention.
In one embodiment, the basic inspection mode is to use a
single-energy and the lowest-energy linac that would allow
penetration of the aircraft and detection of the nuclear materials
of interest. These images are then analyzed to determine the
presence of high-density and high-atomic objects and to distinguish
these from benign materials. To maintain a low dose to the
surrounding environment, the x-ray source is designed such that it
allows for reduction of the beam current for areas with low
attenuation and increased beam current to allow penetration of
highly attenuating objects.
U.S. patent application Ser. No. 12/780,910, entitled "Systems and
Methods for Automated, Rapid Detection of High Atomic Number
Materials", and filed on May 16, 2010 is herein incorporated by
reference in its entirety. In addition, U.S. patent application
Ser. No. 12/484,172, entitled "Systems and Methods for Using an
Intensity-Modulated X-ray Source", and filed on Jun. 12, 2009, is
herein incorporated by reference in its entirety.
The system can also employ dual-energy scanning, in interlaced and
non-interlaced modes, to enhance the detection of nuclear
materials. The system can also employ energy sensitive detectors
with the single or dual-energy scanning.
In one embodiment, the present invention employs X-ray backscatter
imaging although one of ordinary skill in the art would appreciate
that aircraft screening may be performed using any available
radiation imaging technique. For the purpose of aircraft inspection
based on backscatter technology, in one embodiment the X-ray energy
delivered by the source is optimized to be in the range of 150 kV
to 450 kV. This range allows adequate penetration of the aluminum
shell and other parts of the aircraft. For better quality of
imaging and to allow for shorter inspection times, the beam current
is also optimized to appropriate levels, especially since the dose
of radiation delivered to the aircraft is less of a concern. In one
embodiment, the beam scanning mechanism further comprises a beam
chopper, and is designed to include shielding material as well. In
one embodiment, the angle of the X-ray beam with respect to the
normal to the front of the detector head is kept preferentially at
about 10 degrees. This angle avoids going through the full length
of objects that are commonly vertical, and provides some depth
information to the screener. It should be appreciated that other
ranges of energy levels may be used and other forms of radiation or
energy can be used, including gamma, millimeter wave, radar or
other energy sources.
Further, a second embodiment of the present invention is described
with reference to X-ray transmission imaging. For the purpose of
aircraft inspection based on transmission technology, the X-ray
energy is optimized in the range of 200 kV to 1 MV, when detection
of nuclear materials is not required, depending on the size of the
aircraft. The optimized energy range increases from 1 MV to 9 MV
when nuclear material detection is required. The source could
generate a single-energy distribution or multiple-energy
distributions.
Still further, in a third embodiment, the present invention
advantageously employs both backscatter and transmission imaging.
Thus, any imaging system that has the potential for displaying
object detail may be employed in the system and methods of the
present invention.
FIG. 1 illustrates the overall system design of one embodiment of
the present invention. Referring to FIG. 1, aircraft inspection
system 100, in one embodiment, comprises inspection head 101,
vehicle or transport cart 102, and manipulator arm 103. In one
embodiment, inspection head 101 comprises a backscatter inspection
module, further comprising an X-ray source, a beam scanning
mechanism and X-ray detectors. The backscatter inspection module is
described in greater detail below with respect to FIG. 4. In one
embodiment, vehicle or transport cart 102 is any standard vehicle
suitable for movement about an aircraft 105.
In one embodiment, vehicle 102 is movably connected to first,
proximal end 109a of manipulator arm 103 and inspection head 101 is
movably connected to second, distal end 109b of manipulator arm 103
via a customized attachment 104. Manipulator arm 103 is described
in greater detail below. In one embodiment, customized attachment
104 is designed for use with the system of the present invention.
In another embodiment, customized attachment 104 may be available
as an off-shelf component, as long as it achieves the objectives of
the present invention, as described below.
In one embodiment, the inspection head 101 is mounted on
manipulator arm 103 in such a manner that it allows for scanning of
a variety of aircraft sizes, shapes and configurations. The
manipulator arm 103 is also capable of rotating and moving the
inspection head 101 in all directions. In one embodiment,
customized attachment 104 is movably attached to manipulator arm
103 at a first joint 104a and movably attached to inspection head
101 at a second joint 104b. Thus customized attachment 104 allows
for the inspection head 101 to be moved and rotated about first
joint 104a and second joint 104b. In one embodiment, first joint
104a and/or second joint 104b is a ball and socket type joint that
allows for at least one movement, such as but not limited to tilt,
swivel and/or rotation at the joint, and in one embodiment, full
motion. The ability to move and rotate the source at both the first
attachment joint 104a and at the second attachment joint 104b allow
for the system to follow the contour of the aircraft and thus,
adjust to its shape using several degrees of movement freedom.
In addition, manipulator arm 103 has multiple articulation or pivot
joints 107 that allow for complex motions, shown in greater detail
and described with respect to FIG. 3B.
In one embodiment, in order to avoid damage to the aircraft 105
being inspected, the inspection head 101 includes at least one
proximity sensor 106. In one embodiment, the sensors are redundant,
so if one fails to operate, another sensor will still alert when
the system is too close to the aircraft. The at least one proximity
sensor 106 is configured to avoid collision and keep the inspection
head 101 at a safe distance from the aircraft 105. Therefore, once
the at least one proximity sensor 106 is triggered, the inspection
system 100 will cease operation. When inspection system 100 ceases
operation, the scanning head is retracted and the system cannot be
operated until the sensor alarm is cleared.
In one embodiment, the at least one proximity sensor 106 is
connected and controlled via hardware.
In one embodiment, manipulator arm 103 includes at least one
proximity sensor. In one embodiment, vehicle 102 also includes at
least one proximity sensor.
FIG. 2 illustrates the overall system design of another embodiment
of the aircraft scanning system of the present invention. Referring
now to FIG. 2, aircraft inspection system 200, in one embodiment,
comprises X-ray source 201, vehicle or transport 202, a source
manipulator 203, an X-ray detector array 205 and a detector
manipulator 206, which houses detector array 205. In one
embodiment, detector manipulator 206 comprises a multi-directional
cart that has several degrees of freedom.
In one embodiment, vehicle 202 is movably connected to first,
proximal end 209a of manipulator arm 203 and X-ray source 201 is
movably connected to second, distal end 209b of manipulator arm 203
via a customized attachment 204. Manipulator arm 203 is described
in greater detail below.
In one embodiment, X-ray source 201 is mounted on manipulator arm
203 in such a manner that it allows for scanning of a variety of
aircraft sizes, shapes and configurations. The manipulator arm 203
is also capable of rotating and moving source 201 in all
directions. In one embodiment, customized attachment 204 is movably
attached to manipulator arm 203 at a first joint 204a and movably
attached to X-ray source 201 at a second joint 204b. Thus
customized attachment 204 allows for the X-ray source 201 to be
moved and rotated about first joint 204a and second joint 204b. The
ability to move and rotate the source at both the first attachment
joint 204a and at the second attachment joint 204b allow for the
system to follow the contour of the aircraft 207 and thus, adjust
to its shape using several degrees of movement freedom.
In one embodiment, the radiation source and transmission detectors
operate via remote synchronization. Thus, the system is able to
determine the position of the source and the source's aiming point.
In one embodiment, remote synchronization is achieved by collecting
position information, subsequently gathered into a beacon, or set
of beacons, using triangulation methods, which, in turn, use radio
wave timing and logic signaling for best accuracy. The radio waves
are preferably used over the line of sight, since there are
generally obstacles near and around the detector system. In one
embodiment, the beacons are located in a known position from the
aircraft under inspection. The detector array 205 (via its
computing system), and thus, the detector manipulator 206 housing
the detector array 205 gathers information from the source or
manipulator arm connected to the source to generate a source
position, calculates the best position and angle of the detectors
based upon the source position, and subsequently moves in relation
to the source position.
In another embodiment, the synchronization is performed by the
detector manipulator 206 following the source of radiation based on
the feedback from the signals measured by the detector array 205.
In this embodiment, the detector manipulator 206 moves in order to
maximize the measured signals.
In one embodiment, remote synchronization can be achieved by
placing at least one position sensor and transmitter in the
scanning head and/or detector and communicating such position
information to a controller, which may be located in the vehicle or
a separate control station. In one embodiment, a GPS sensor and
transmitter are employed. In one embodiment, the GPS sensor and
transmitter communicate both scanning head and detector position
information wirelessly to the controller. In one embodiment, the
current detector position is determined using the GPS sensor and
wirelessly communicated to the controller. In one embodiment, the
current scanning head position is determined using the GPS sensor
and is wirelessly communicated to the controller. The controller
then wirelessly communicates the required detector position based
upon the position of the scanning head and detector movement
instructions to a controller on the detector unit. A motor that
operates based upon directions from the controller unit in the
detector system moves the detector to the requisite position. The
process is repeated until all scan angles are taken.
In another embodiment, inertial sensors are employed at both the
source and detectors, with position information wirelessly
transmitted such that source and detector positions can be
adjusted.
To select appropriate design specifications for the vehicle and the
manipulator arm, the critical areas of focus are: a) the distance
from the source/detector to the aircraft, b) the controlled motion
of the source/detector, and c) collision avoidance for both the
vehicle and the manipulator with the aircraft. In one embodiment,
an optimal distance from the source/detector arrangement to the
aircraft rages from 1/2 meter up to two meters. In one embodiment,
the distance is chosen to provide optimal image resolution,
inspection coverage and signal strength. The weight of the
source/detector in conjunction with the maximum height and maximum
reach that the manipulator arm must obtain further determines the
dimensions of the vehicle platform. It should be understood by
those of ordinary skill in the art that the weight of the source is
largely dependent on source type, and that source type is chosen
based on the object under inspection and scanning requirements.
Scanning sequence, motion speed, and tolerances for position and
vibration also direct the specifications for the manipulator arm
and/or any special attachments or tooling. As mentioned earlier, in
order to minimize development time and costs in one embodiment, any
suitable off-the-shelf vehicle and/or manipulator arm may be
employed and modified as per the design requirements of the present
invention. In one embodiment, the height and reach of the
manipulator arm and weight and/or dimensions of the inspection head
are a function of the size of the airplane or large cargo
containing entity being scanned.
FIG. 3A illustrates an exemplary vehicle 308 that is connected to a
backscatter or transmission module (not shown), via manipulator arm
301, for the aircraft inspection system of the present invention.
In one embodiment, for example, the vehicle 308 may be a wheeled
excavator or a similar vehicle.
FIG. 3B illustrates an exemplary manipulator arm 300 that is used
for mounting a backscatter or transmission module (not shown) for
the aircraft inspection system of the present invention. In one
embodiment, the manipulator arm 300 comprises a multi-purpose
hydraulic boom. The boom design allows for the flexibility of
attaching the vehicle (not shown) to a first, proximal end 309a
while attaching standard or custom tools at its second, distal end
309b. Second, distal end 309b, in one embodiment, is modified to
allow for attachment of a backscatter or transmission inspection
module at joint 303.
In one embodiment, manipulator arm 300 is operated using
computer-controlled motion and has at least five degrees of freedom
for positioning in all directions, including up-down, left-right,
in/out and rotation. In one embodiment, the system further
comprises a controller unit, which can be remote from the system or
located within the vehicle, for communicating motion instructions
to controllers located in the scanning head or gantry unit which,
in turn, directs motors to move the scanning head and/or gantry
unit in the requisite direction. One method of controlling motion
of the vehicle and the manipulator arm using a computer involves
referring to a database of airplane models, stored in a memory on
the computing system. Each entry in the database corresponds to a
plane contour. This database enables the motion-control program to
generate a scan plan, which is used to control the motion of the
arm and the head to scan the airplane according to the plan.
Further, for some planes, it may not be possible to scan the entire
plane from one vehicle position. Therefore, the motion control
program analyzes the various positions required and the system
scans the plane accordingly.
In one embodiment, the arm is capable of full 360 degree rotation.
The manipulator 300 is linearly extensible and contractible, and
the extension and contraction can be achieved with a complex motion
of the various parts of the manipulator arm. The system scans the
aircraft by moving the arm at a nearly constant distance from the
surface of the aircraft.
The manipulator arm 300 is also equipped with the capability of
source rotation at the joint 303, as described above. The ability
to rotate and move the source through several degrees of freedom at
attachment joint 303, allow for the system to follow the contour of
the aircraft and thus, adjust to its shape. The manipulator arm of
the present invention has multiple articulation or pivot points 305
that allow for complex motions, including but not limited to
extension and contraction.
FIG. 4 is a cross-sectional view of a backscatter inspection head
of the present invention used in one embodiment of the imaging
system of the present invention, as shown in FIG. 1, comprising a
backscatter module. In one embodiment, backscatter module 400
comprises X-ray source 401, a beam scanning mechanism 402, and
X-ray detectors 403. A front panel 404 of backscatter module 400
employs a scintillator material 405, which detects the
backscattered X-rays, after a pencil beam 406 of X-rays is scanned
over the surface of the aircraft 407 being inspected.
FIGS. 5A through 5C shows another embodiment of the aircraft
inspection system 500 of the present invention, in which the entire
plane can be scanned in one single motion. In one embodiment,
aircraft inspection system 500 is employed with relatively small
planes for which the system can be designed such that it does not
require a large footprint or a large, dedicated floor plan. In one
embodiment, the inspection system 500 is an X-ray
transmission-based system.
Referring to FIGS. 5A through 5C simultaneously, system 500
comprises a mobile overhead crane 502, whereby crane 502 comprises
two substantially parallel vertical beams 511, which forms the two
sides of crane 502, connected by a horizontal beam 507, which forms
the top side of crane 502 thus forming a three-sided inspection
gantry 515.
In one embodiment, crane 502 is movable along the length of the
aircraft as shown by arrow 510, using wheels 503 connected to
vertical beams 511. The radiation source 501 is mounted on the
horizontal beam (top side) 507, and thus, crane 502, using a
customized attachment, as described above. The use of a customized
attachment allows for movement of the source, such as tilt and
rotation in all directions. Applicant is the owner of co-pending
U.S. patent application Ser. No. 12/822,183, filed on Jun. 24,
2010, which is incorporated herein by reference.
In one embodiment, the source 501 is an X-ray source, as described
above. The inspection system 500 further includes an X-ray detector
array 505 placed on a movable detector manipulator 506. In one
embodiment, the inspection system 500 is a transmission-based
system and the source 501 and detectors 505 operate via remote
synchronization methods, as described earlier with reference to
FIG. 2. The source 501 is movable laterally along the horizontal
overhead beam 507 as shown with arrow 508. In one embodiment, the
overall width `w` of the overhead horizontal beam 507 is a function
of how wide the crane 502 must be to move axially along the length
of the aircraft 509 (from nose to tail) without hindrances. In
other words, the width `w` is such that the crane is 502 can easily
accommodate the entire width of the aircraft, including wings, with
a sufficiently comfortable margin to avoid any collisions or
scraping with the aircraft body during inspection. This also
ensures that source 501 can move laterally along horizontal beam
507 of crane 502 when positioned over the aircraft head wings such
that the source effectively covers the aircraft wings for scanning
Similarly, when the crane 502 is positioned over the tail wings,
the source 501 moves laterally along the beam 507 such that it
covers the tail wings for scanning.
FIG. 9, described in greater detail below, illustrates exemplary
scanning distances. In one embodiment, if the aircraft under
inspection 900 has a body diameter, not including wings, on the
order of 2 meters, the source/detector array 905 is positioned at a
distance of 1 meter from the aircraft under inspection 900, thereby
achieving a sufficiently large field of view with the requisite
resolution to enable radiographic inspection.
Also, in alternate embodiments, a second set of detectors are
mounted on the horizontal beam 507, along with the source, to
detect radiation backscattered from the aircraft. In one
embodiment, the source 501 is a backscatter source module with
backscatter detectors such as module 400 of FIG. 4. In this case,
the backscatter head will be in closer proximity to the
aircraft.
FIGS. 6A through 6C show a multiple scan transmission-based
aircraft inspection system where the source 601 is mounted on a
movable crane 602 in accordance with yet another embodiment of the
present invention. Although at least four separate scan angles are
preferred in this embodiment (one for the head/nose end, one for
each wing, and one for the tail end), it is advantageous in that it
is capable of scanning larger aircraft compared to the inspection
system described with respect to FIG. 5. Referring now to FIGS. 6A
through 6C simultaneously, in one embodiment, the source 601 is an
X-ray source, as described above. The inspection system further
includes an X-ray detector array 605 placed on a movable detector
manipulator 606. In one embodiment, the inspection system is a
transmission-based system whereby the source 601 and detector array
605 on detector manipulator 606 operate via remote synchronization
methods, as described earlier with reference to FIG. 2.
Referring to FIGS. 6A through 6C simultaneously, the movable crane
602 comprises two substantially parallel vertical beams 611, which
form the two sides of crane 602, connected by a horizontal beam
607, which forms the top side of crane 602 thus forming a
three-sided inspection gantry 620.
The width `w` of the horizontal beam 607 is sufficient enough to
enable the crane 602 to move along the length of an aircraft but
not sufficient enough to allow the crane 602 to pass over the head
wings of the aircraft. In one embodiment, the width `w` is such
that it can accommodate the tail wings without scraping.
In one embodiment, the horizontal overhead beam (or the top side of
the gantry) 607 further supports a transverse overhanging beam 612,
having a first end 612a and a second end 612b, wherein the X-ray
601 source is connected to the first end 612a of the transverse
beam and a counterweight 613 is connected to the second end 612b of
the transverse beam to balance the X-ray source 601. In one
embodiment, first end 612a of the transverse beam 612, housing the
source 601, is longer than the second end 612b, housing the
counterweight 613. The transverse beam 612 is movable transversely
along the width `w` of the horizontal beam 607. For scanning
operation, the crane 602 is made to pass over the aircraft once
from the head-end to the wing, as shown by arrow 615, then once
each for the two wings from the wing tip to the body, as shown by
arrow 616, and finally once from the tail-end to the wings, as
shown by arrow 617. In this manner, all the sections of the
aircraft are scanned. Also, in alternate embodiments the source 601
is a backscatter source module with backscatter detectors such as
module 400 of FIG. 4. The scanning of a) the portion of the
airplane from the head to the point where the wings connect to the
airplane body, b) the portion of the right wing from the tip of the
right wing to the point where the right wing connects to the
airplane body, c) the portion of the left wing from the tip of the
left wing to the point where the left wing connects to the airplane
body, and d) the portion of the airplane from the tail to the point
where the wings connect to the airplane body can be performed in
any sequence.
The sources 501 and 601 of FIGS. 5A through 5C and FIGS. 6A through
6C, respectively, are attached to the cranes using a customized
attachment, as known to persons of ordinary skill in the art, to
enable tilts in all directions. The ability of the source to tilt
in all directions is particularly beneficial in enabling effective
scan of exclusion zones such as areas above aircraft wheels, as
described in greater detail with respect to FIGS. 7 and 8.
FIGS. 7A and 7B are elevation views of the aircraft showing a first
method of scanning difficult to scan zones, such as, but not
limited to, areas above the wheels, voids of the wings, fuselage,
engine nacelles, empennage, and stabilizer areas. FIGS. 7A and 7B
show tilt positions 715, 716 of source 701 when deployed using
cranes 502, 602 of FIGS. 5A through 5C and FIGS. 6A through 6C,
respectively to scan the areas above the wheels of the aircraft
700. The detectors 705 are placed transversely opposite to
positions 715, 716. The source is moved transversely along the
width of the horizontal beam of these cranes (not shown in FIGS.
7A, 7B) and then tilted to assume positions 715, 716 to scan areas
above the wheels. Persons of ordinary skill in the art should note
that in alternate embodiments, the source 701 could be mounted on
manipulator arm of a vehicle or transport, instead of a crane, as
described in system 200 of FIG. 2.
FIGS. 8A, 8B, and 8C show alternate views of a second method of
scanning difficult to scan zones on an airplane, such as, but not
limited to, areas above the wheels, voids of the wings, fuselage,
engine nacelles, empennage, and stabilizer areas. In this
embodiment, in order to scan the areas above the wheels of the
aircraft 800, the source 801 is positioned on one side of the
aircraft 800 while detector arrays 805 are positioned on the
opposite side. In one embodiment, the source 801 is a transmission
X-ray radiation source while the detector array 805 is L-shaped to
effectively capture the fan beam 816 transmitted through the
aircraft. The L-shaped detectors 805 are placed on a detector
manipulator 806. The source 801 and transmission detectors 805
operate via remote synchronization methods, as described earlier
with reference to FIG. 2. In one embodiment, the vertical fan beam
angle `Z` and the position of the source 801 relative to the
aircraft is such that the fan beam 816 is able to sweep the entire
side elevation of the aircraft. Persons of ordinary skill in the
art should appreciate that the source 801 is movable by mounting on
a crane or vehicle/transport as described in earlier embodiments.
As shown specifically in FIG. 8A, the source 801 and detectors 805
move along the length of the aircraft as shown by arrow 810 to
enable scanning of areas above the wheels.
In one embodiment, the aircraft inspection system of the present
invention is capable of producing high-resolution images that
enable the operator to easily identify concealed threat and
contraband items. In one embodiment, a database or threat library
containing standard images of airplanes is employed to compare
resultant scans of the aircraft under inspection with images
collected from planes of the same model to determine anomalies.
In one embodiment, depending on the size of the airplane, the
images of parts of the planes are collected separately. These
images can then be displayed separately, or they could be
"stitched" together show a combined image.
The aircraft inspection system of the present invention is capable
of accurately detecting both organic materials, such as solid and
liquid explosives, narcotics, ceramic weapons, as well as inorganic
materials, such as metal. In one embodiment, the aircraft imaging
system uses automated threat software to alert an operator to the
presence of potential inorganic and organic threat items. In one
embodiment, the system is capable of transmitting backscatter and
photographic images to an operator or remote inspector
wirelessly.
FIG. 9 is an illustration of one embodiment of a nuclear inspection
configuration, including exemplary distances between an aircraft
under inspection 900 and a source/detector array 905. As described
above, for an aircraft under inspection 900 having a diameter of 2
meters, the source/detector array 905 is placed at a distance of 1
meter from the aircraft 900. As shown in FIG. 9, in order to
inspect for nuclear materials 910, the system includes source 901,
which produces X-rays with energies of approximately 9-15 MV and/or
neutrons, for example from either a d-D or d-T reaction, to induce
fission to clear or confirm the presence of SNM. In the first case,
gamma-ray detectors 907 are employed to measure the delayed gamma
rays and neutron detectors 909 are employed to measure the delayed
and/or prompt neutrons. Where neutrons are used, Differential
Die-Away Analysis (DDAA) is employed to detect prompt and delayed
neutrons. In both cases, high-efficiency moderated .sup.3He or
other neutron detectors are employed. In one embodiment,
appropriate shielding 902 is employed to shield the X-ray source
901 from the gamma detectors 907 and neutron detectors 909.
The gamma-ray detectors 907 and neutron detectors 909 can also be
employed for passive measurements simultaneously with the x-ray
inspection. During the pulse, the X-ray system will collect data to
produce images and shortly after the pulse, the passive detectors
are enabled to collect gamma-rays and neutrons. The main advantage
of simultaneous inspection is the reduced logistic complexity and
shorter scan time compared with performing X-ray and passive
detection separately. The results of the passive detection
measurements and the X-ray images are data fused to improve
detection of nuclear and radioactive materials.
The aircraft inspection system of the present invention is designed
to be modular to enhance transportability and ease of assembly. In
one embodiment, the individual modules--the vehicle, the
manipulator arm, the scanning head, and optionally detector cart
can be assembled on site and/or customized per application. In
addition, in another embodiment, the system is ready to deploy and
requires no assembly.
The system is also designed to be rugged so that it can withstand
harsh environments for outdoor deployments even in inclement
conditions. In one embodiment, the power required to run the system
is provided on-board allowing the system to operate anywhere on the
airfield. In one embodiment, the aircraft inspection system of the
present invention is scalable for inspecting any aircraft size from
executive jets to Airbus 380. Thus, the size of the vehicle and arm
can be scaled to the size of the aircraft.
The above examples are merely illustrative of the many applications
of the system of present invention. Although only a few embodiments
of the present invention have been described herein, it should be
understood that the present invention might be embodied in many
other specific forms without departing from the spirit or scope of
the invention. Therefore, the present examples and embodiments are
to be considered as illustrative and not restrictive, and the
invention may be modified within the scope of the appended
claims.
* * * * *
References